determine goal position with plant flag
hello dears,
i would like to do implement p-controller for turtebot such this: - first run the rviz and use plant flag > publish point which is in /pointclicked topic - above theorem release a position where you click on the screen in rviz - my problem : i am going to use this point as a goal position but i can not , i will bring the code in below - at the end with navmessage::Odometry i expect to see the current position as well as i can not.
i am new person in ros please help me to handle this code. really thank you so much.
Publisher velocitypublisher; Publisher Goal;
int main(int argc, char **argv) {
init(argc, argv , "location");
NodeHandle n;
NodeHandle g;
velocity_publisher = n.advertise<geometry_msgs::Twist>("/cmd_vel",10);
Goal_ = g.advertise<geometry_msgs::PointStamped>("/clicked_point",10);
move();
spin();
}
void move() { geometrymsgs::Twist velmeg; geometrymsgs::PointStamped goal; navmsgs::Odometry pose;
double pose_x = pose.pose.pose.position.x ;
double pose_y = pose.pose.pose.position.y ;
// now i just need to acess to the datum of the location if happen i think that all things will happen;)
cout << pose_y<<endl;
}
Asked by arya on 2018-06-30 16:19:05 UTC
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